Update `cosign` and `k8s.io/*` dependencies

[anujc25]

What this PR does / why we need it

Dependency Updates:

• cosign/v2: v2.0.3-0.20230519173114-f21081a18209 -> v2.2.4

• k8s.io/* : v0.26.3 -> v0.28.3

• Removes dependency of the github.com/vmware-tanzu/tanzu-framework/capabilities/client package by coping the necessary bits to this repository. (This is required because the above package is not maintained anymore.

• Pass the HTTP client to the NewDynamicRESTMapper API as the apiutil.WithLazyDiscovery has been removed.

Which issue(s) this PR fixes

Fixes #

Describe testing done for PR

Release note

None

Additional information

Special notes for your reviewer